Simulation conditions for the self-calibration:

${[{\nabla }_x,{\nabla }_y,{\nabla }_z]}^{\text{T}}={[{10}^{-4},{10}^{-4},{10}^{-4}]}^{\text{T}}\times g$, ${[{\epsilon }_x,{\epsilon }_y,{\epsilon }_z]}^{\text{T}}={[0.01,0.01,1]}^{\text{T}}°\text{/h}$,

${[{\sigma }_{f_x},{\sigma }_{f_y},{\sigma }_{f_y}]}^{\text{T}}={[5\times {10}^{-5},5\times {10}^{-5},5\times {10}^{-5}]}^{\text{T}}\times g$, ${[{\sigma }_{w_x},{\sigma }_{w_y},{\sigma }_{w_z}]}^{\text{T}}={[0.05,0.05,0.005]}^{\text{T}}°\text{/h}$,

${[\text{roll},\text{pitch},\text{yaw}]}^{\text{T}}={[20°,20°,20°]}^{\text{T}}$